System and method for illustrating a pose of an object

Abstract

Disclosed is a system to display a representation of an instrument. The representation of the instrument may be displayed relative to a representation of a patient. The representation of the patient may be fit in real-time to represent positions of two or portions of the patient relative to one another.

What is claimed is: 
     
         1 . A system to assist a user in navigating an instrument relative to a subject, comprising:
 a display device configured to be viewed by the user;   an instrument tracking device associated with the instrument;   a subject tracking device, wherein the subject tracking device is fixed relative to the subject;   a tracking system configured to track the instrument tracking device and the subject tracking device; and   a processor configured to execute instructions to:
 determine a pose of the instrument relative to a pose of the subject based on the tracking of the instrument tracking device and the subject tracking device; 
 receive information regarding the subject; 
 recall a standard avatar; 
 generate a subject specific avatar at least by morphing the recalled standard avatar based on the received information regarding the subject; and 
 generate output that causes the display device to display the subject specific avatar and a graphical representation of the instrument superimposed on the subject specific avatar based on the pose of the instrument relative to the pose of the subject. 
   
     
     
         2 . The system of  claim 1 , further comprising the instrument, wherein the instrument comprises a medical device. 
     
     
         3 . The system of  claim 2 , wherein the instrument comprises an elongate endovascular device. 
     
     
         4 . The system of  claim 2 , wherein the instrument comprises an intracardiac device. 
     
     
         5 . The system of  claim 2 , wherein the instrument comprises a guidewire. 
     
     
         6 . The system of  claim 2 , wherein the instrument comprises a catheter. 
     
     
         7 . The system of  claim 2 , wherein the instrument comprises a delivery system for an implant. 
     
     
         8 . The system of  claim 2 , wherein the instrument comprises a tunneling tool. 
     
     
         9 . The system of  claim 2 , wherein the instrument comprises an energy delivery device. 
     
     
         10 . The system of  claim 2 , wherein the instrument comprises an electrode configured to stimulate a heart of the subject. 
     
     
         11 . The system of  claim 1 , wherein the processor is configured to execute further instructions to maintain a registration of the subject specific avatar with the subject based on the tracking of the subject tracking device. 
     
     
         12 . The system of  claim 1 , wherein the subject tracking device is configured to be positioned at the suprasternal notch of the subject. 
     
     
         13 . The system of  claim 1 , wherein the processer is configured to determine poses of at least two points of the subject. 
     
     
         14 . The system of  claim 1 , wherein the tracking system includes a localizer, wherein the subject is positioned relative to the localizer at a predetermined position, and wherein the predetermined position is operable to allow registration of the subject to the subject specific avatar. 
     
     
         15 . A method to assist a user in navigating an instrument relative to a subject by selecting and sizing an avatar of a subject, the method comprising:
 tracking, by a tracking system, an instrument tracking device associated with the instrument and a subject tracking device that is fixed relative to the subject;   determining, by a processor, a pose of the instrument relative to a pose of the subject based on the tracking of the instrument tracking device and the subject tracking device;   receiving, by the processer, information regarding the subject;   recalling, by the processor, a standard avatar;   generating, by the processor, a subject specific avatar at least by morphing the standard avatar based on the received information regarding the subject; and   generating, by the processing, output that causes a display device to display the subject specific avatar and a graphical representation of the instrument superimposed on the subject specific avatar based on the pose of the instrument relative to the pose of the subject.   
     
     
         16 . The method of  claim 15 , wherein generating the subject specific avatar comprises generating the subject specific avatar to have subject portions based on relative positions of the subject portions in the subject. 
     
     
         17 . The method of  claim 15 , further comprising maintaining, by the processor, a registration of the subject specific avatar with the subject based on the tracking of the subject tracking device. 
     
     
         18 . The method of  claim 15 , wherein the subject tracking device is positioned at the suprasternal notch of the subject. 
     
     
         19 . The method of  claim 15 , wherein determining the pose of the subject comprises determining poses of at least two points of the subject. 
     
     
         20 . The method of  claim 15 , wherein the tracking system comprises a localizer positioned at a predetermined position relative to the subject, the method comprising registering, by the processor, the subject to the subject specific avatar based on the predetermined position relative to the subject of the localizer.